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POE Formula를 이용한 모듈러 로봇 좌표독립 모델링
조영진,여인철,김영탁,안영명 중앙대학교 생산공학연구소 1999 생산공학연구소 논문집 Vol.8 No.2
모듈러 로봇은 우주, 건설산업, 원자력발전 및 여러 소비제품 생산분야에서 이미 오래 전부터 채용되어온 모듈러의 개념을 로봇에 적용한 것이다. 미리 규격화된 모듈을 응용작업 대상에 따라 효과적인 로봇구조로 조립하므로써 작업효율이 높은 로봇을 구성할 수 있게 한다. 따라서 모듈러로봇은 미리 정해진 한가지 로봇구조를 가지고 있지 않으며 더불어 관절간의 관계인 링크 파라미터도 정해져 있지 않다. 즉 로봇의 구조가 결정되어야 비로소 링크파라미터가 결정된다. 로봇구조에 따라 링크파마미터가 다르게 되고 모델링도 달라지는데 로봇제어를 위해서 그 때 마다 모델링을 해야 하는 것은 매우 번거롭고 시간과 노력을 요하는 일이다. 따라서 로봇구조에 상관없이 자동적으로 모델링이 가능한 수법의 개발이 요구된다. 본 연구에서는 로봇의 모델링 기법으로써 계산량이나 컴팩트한 형태 때문에 최근에 많은 주목을 받고 있는 POE formula를 모듈러 로봇에 적용하여 로봇의 구조가 바뀌더라도 자동으로 모델링이 될 수 있는 방법에 대해 기술한다. Modularity in robotics is an extension of the general concept of modular system design which has been previously used in many areas as diverse as space applications, construction industry, nuclear power plants, and many consumer products. Modularity offers quick assembly of pre-constructed modules into robots which may have different kinematic configuration as given tasks. Thus modular robots have no pre-defined link and joint parameters, i.e., the link lengths, offsets, and joint twists. The kinematic model of a modular robot will be established only when its assembly configuration is determined. Therefore, a configuration independent kinematic and dynamic modeling techniques are necessary for the modular robots. In this paper, the configuration independent kinematic and dynamic modeling techniques for the modular robot is described. Product of exponentials (POE) formula is used for the modeling.
탁관철,이영호,이은정 大韓成形外科學會 1991 Archives of Plastic Surgery Vol.18 No.2
Clinodactyly refers to a curvature of a digit in a radial or ulnar direction in the coronal plane. The usual deformity is a radial deviation of the bilateral little fingers at DIP joint and caused by a developmental abnormality of growth in the middle phalanx. The abnormlity is inherited as an autosomal dominant trait with slight lack of penetrance. We have experienced 4 cases of clinodactyly in 2 patients on their bilateral little fingers and accomplished surgical correction of them with satisfactory results. There were generally two surgical options; a closing wedge osteotomy and an opening wedge osteotomy plus iliac or metatarsal bone graft. In 3 cases of moderate degree clinodactyly, the closing wedge osteotomy was applied. In a remaining severe case, we applied Reversing Wedge Osteotomy-authors` new modification of the opening wedge osteotomy. In that modification, a wedge of angulated middle phalangeal bone was osteotomized through a Z-plasty skin incision on radial side, reversed it, and re-inserted into the place to maximize correction of the angulation and gaining in the length.
ANFIS에 의한 비선형 입·출력 관계의 퍼지구조 동정에 관한 연구
이준탁,심영진,김태우 東亞大學校 附設 情報通信硏究所 1996 情報通信硏究所論文誌 Vol.4 No.1
The characteristics of nonlinear dynamical system using fuzzy inference technique can be described by fuzzy modeling. Therefore, this paper introduce a technique for fuzzy structure identification of nonlinear input-output relationship using ANFIS (Adaptive Neuro-Fuzzy Inference System). And the simulation results of using ANFIS show its effectiveness for fuzzy structure identification of nonlinear system.
임영도,설재훈,한창훈,김승철,박종오,이준탁,방석원 東亞大學校 附設 情報通信硏究所 1998 情報通信硏究所論文誌 Vol.6 No.1
This paper describes an intelligent cruise control system for automobile. With the remarkable numericalincrease of automobiles on the roal, the optimized traffic flow control using the cruise control is one of the very important traffic problems to overcome the limitation of an existing road capacity. Based onthis idea that minimize the fuel cost and teh air pollution, and accept a driver's needs for driving, we have developed an intelligent cruise control system for vehicle. This proposed intelligent fuzzy cruise controller was successfully implemented using the fuzzy algorithm, the i80c196 μ-controller board and the throttle valve actuator. The field test results on an linear road was introduced.
심영진,박두환,김태우,지석준,이준탁 동아대학교 정보기술연구소 2000 情報通信硏究所論文誌 Vol.8 No.1
The stabilization control of Inverted Pendulum(IP) system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of conventional techniques such as the pole placement and the optimal control based on the local linearizations have narrow stabilizable regions. At the same time, the fine tunings of their gain parameters are also troublesome. Thus, in this paper, an Evolving Neural Network Controller(ENNC) which its structure and its connection weights are optimized simultaneously by Real Variable Elitist Genetic Algorithm(RVEGA) was presented for stabilization of an IP system with nonlinearity. This proposed ENNC was described by a simple genetic chromosome. And the deletion of neuron, the determinations of input or output neuron, the deleted neuron and the activation functions types are given according to the various flag types. Therefore, the connection weights, its structure and the neuron types in the given ENNC can be optimized by the proposed evolution strategy. And the proposed ENNC was implemented successfully on the ADA-2310 data acquisition board and the P-III microprocessor in order to stabilize the nonlinear system. initial values and the external disturbances applied to pendulum. Its main hardwares were made of the ADA-2310 data acquisition board and the P-III microprocessor. Through the simulation and experimental results, we showed that the finally acquired optimal PENNC was very useful in the stabilization control of nonlinear(IP) system.
김영탁,여인철,안영명 중앙대학교 생산공학연구소 1996 생산공학연구소 논문집 Vol.5 No.2
본 눈몬에서는 대중량물 핸들리용 로봇기구로써 제안된 팬터그래프 기구를 응용한 5자유도 로봇 매니퓰레이터의 제어에 대하여 기술한다. 로봇의 제어계는 MEI 社의 PC/DSP 600을 이용하여 구성하였으며 각종 안전과 기게적원점을 위한 센서를 설계/장착하였다. 또한 제어계의 연산량을 줄이기 위한 좌표계선정방법을 제안하였다. 좌표계의 선정방법은 팬터그래프기구를 직렬링크기구로 등가변환하는 방법이다. 그리고 PTP제어방법과 CP제어방법을 이용한 제어프로그램을 개발하였으며 제어실험을 통하여 제어정밀도, 부하용량, 최대선단속도, 작업공간 크기 등의 제어성능을 평가하였다. 그 결과 팬터그래프기구는 대중량물 핸들링용 로봇기구로써 매우 유용함이 입증되었다. In this paper, the control of 5-degrees of freedom robot manipulator is studied in order to apply the robot to handle a heavy weight. The hardware of control board is constructed with PC/DSP 600 of MEI Co., and the peripheral units are also equipped with sensors for detecting datum signals and the safety. The improved coordinates are suggested for reducing the computing time of the control. That is that the pantotgraph linkage is transformed into the equivalent serial linkage. The path generation program using the PTP and CP is developed and is tested about the position repeatability, the maximum speed of the end effector, the workspace. As a result, the usefulness of the pantograph mechanism is proved for the robot of handling a heavy weight.
김영탁,정연두,여인철 중앙대학교 생산공학연구소 1996 생산공학연구소 논문집 Vol.5 No.2
본 논문에서는 최적설계와 산업로봇의 응용에 있어 매우 중요한 여러가지 기구학적 성능을 다양한 산업로봇으로 평가하였다. 로봇 기구에 의존하는 조작성, 동력소비율 그리고 서어보 강성에 대하여 소개하고 분석하였다. 이러한 분석에 의해서 다음과 같은 사실을 얻을 수 있다. 첫째, 다관절형 로봇은 조작성이 우수하다. 둘째, 직교좌표형 로봇은 서어보 강성과 동력소비율이 우수하다. 마지막으로 극좌표형 로봇은 모든면에서 성능이 불리하다. 그것들은 로봇을 설계하는데 사용할 수 있다. Several mechanism performances, which are very important in the optimal design and application of industrial robots, are evaluated about various industrial robots in this paper. Manipulability, power dissipation ratio, and servo stiffness depending on mechanism of a robot are introduced and analysed. In the analysis, we could find the following facts. First, the articulated type robot has an advantage in manupulability. Second, the cartesian type robot has advantages in servo stiffness and power dissipation ratio. Finally, the polar coordinate type robot has disadvantages in all aspects. They could be used for designing a robot.
上口脣 缺損의 再建을 爲한 Estlander-Abbe氏 皮膚瓣 使用例
柳在德,卓寬哲,李世一,李英浩 大韓成形外科學會 1976 Archives of Plastic Surgery Vol.3 No.1
Innumerable procedures have been devised for the repair of upper lip defects. The ideal repair should give a normal-looking not too tight lip with a vermillion border, an adequate sulcus, good sensation and good muscle tone and also. It must also be simple to perform under local anesthesia. If the lesions are small, immediate closure after excision can be made. Replacement of larger losses of upper lip has to brought tissues to fill the defects. In the majority of methods, pedicle from adjacent, neighboring or distant parts is used. Also among them, a portion of one lip had frequantly been used to replace losses in the other lip by rotating a flap. In the moderate to larger sized lateral defects of the upper lip, the Estlander Abbe's operation is the most useful procedure.
데이터마이닝을 이용한 의료의 질 측정지표 분석 및 의사결정지원시스템 개발
김혜숙,채영문,탁관철,박현주,호승희 한국의료QA학회 2001 한국의료질향상학회지 Vol.8 No.2
Background : This study presented an analysis of healthcare quality indicators using data mining and a development of decision support system for quality improvement. Method : Specifically, important factors influencing the key quality indicators were identified using a decision tree method for data mining based on 8,405 patients who discharged from a medical center during the period between December 1, 2000 and January 31, 2001. In addition, a decision support system was developed to analyze and monitor trends of these quality indicators using a Visual Basic 6.0. Guidelines and tutorial for quality improvement activities were also included in the system. Result : Among 12 selected quality indicators, decision tree analysis was performed for 3 indicators ; unscheduled readmission due to the same or related condition, unscheduled return to intensive care unit, and inpatient mortality which have a volume bigger than 100 cases during the period. The optimum range of target group in healthcare quality indicators were identified from the gain chart. Important influencing factors for these 3 indicators were: diagnosis, attribute of the disease, and age of the patient in unscheduled returns to ICU group ; and length of stay, diagnosis, and belonging department in inpatient mortality group. Conclusion : We developed a decision support system through analysis of healthcare quality indicators and data mining technique which can be effectively implemented for utilization review and quality management in a healthcare organization. In the future, further number of quality indicators should be developed to effectively support a hospital-wide Continuous Quality Improvement activity. Through these endevours, a decision support system can be developed and the newly developed decision support system should be well integrated with the hospital Order Communication System to support concurrent review, utilization review, quality and risk management.